JPH09236400A - Device for guiding missile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly guide a missile to a target object by a method wherein an acceleration command to a missile is calculated by a fuzzy acceleration command calculation circuit based on an output from an angle error detecting circuit and a Doppler signal. SOLUTION: Based on an angle error signal from an angle error detecting circuit 9 and a Doppler frequency, a rate of change of a visual line angle and an approach velocity are brought into a fuzzy state by a fuzzy processing part 11. A rate of change of the visual line angle and an approach velocity brought into a fuzzy state enters a fuzzy inference executing part 12 to obtain one or more inference results of acceleration. The obtained inference result enters a non-fuzzy part 13 to calculate an acceleration value to an airframe. An acceleration speed command outputted from a fuzzy acceleration speed command calculation circuit 10, airframe acceleration measured by an acceleration sensor 17, and an angular speed are compared by an autopilot 14 to generate a steering angle command signal. The steering angle command signal is fed to an angle steering device 15 to execute steering. This constitution induces an airframe 16 to a target.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guide device for a flying object that guides and fly toward a target object.

[0002]

2. Description of the Related Art First, a conventional active guidance type flying body will be described with reference to FIG. In the figure, 1 is an antenna, 21 is a flying object, 22 is a target object, 23 is a radar transmitted wave, 24 is a radar received wave, and the direction of the target seen from the flying object, that is, a visual line, 25 is a predetermined reference line, 26 is the axis of the flying object, Vm is the velocity vector of the flying object, Am is the acceleration vector of the flying object generated perpendicular to Vm, Vt is the target velocity vector, and σ is the line of sight 24 and the reference line 25. The line-of-sight angle, λ is the antenna swing angle formed by the aircraft axis 26 and the antenna, and a is the attack angle formed by the velocity vector Vm of the aircraft and the aircraft axis 26.

In the above structure, the flying body 21 flying at the velocity Vm in the angular direction a with respect to the machine axis direction 26 of the flying body 21 is the target object 2 flying at the velocity Vt.
2 transmits the radar transmission wave 23 from the antenna 1,
The radar transmission wave 23 reflected by the target object 22 is received as a radar reception wave 24. The antenna 1 transmits the visual line angle σ from the angle difference between the direction in which the antenna 1 receives the radar received wave 24 and the preset reference line 25, and the change rate of the visual line angle σ from the time change. From the difference in frequency between the radar transmitted wave 23 and the received radar received wave 24, that is, the Doppler frequency, the target object 22 and the flying object 2
1 and the antenna 1 transmits the radar transmission wave 23
The distance between the target object 22 and the flying body 21 can be measured from the time difference between the transmission of the radar signal and the reception of the radar reception wave 24. Since the flying body 21 associates with the target object 22, the velocity vector Vm of the flying body 21 and the acceleration Am are generated in the vertical direction in accordance with the behavior of the target object 22,
That trajectory needs to be constantly revised. A conventional general flying body guidance device calculates the acceleration Am required for the flying body 21 to meet the target object 22 by using a guidance law called proportional navigation.

Next, proportional navigation will be described with reference to FIG. In FIG. 22, 21 is a flying object, 22 is a target object, 24 is a visual line, 25 is a reference line, and Vm is a flying object 2.
1 is a velocity vector, Vmc is a visual line direction component of the velocity vector Vm, Vmn is a component orthogonal to Vmc of the velocity vector Vm, Vt is a velocity vector of the target object 22, Vtc is a visual line direction component of the velocity vector Vt, and Vtn is A component of the velocity vector Vt orthogonal to Vtc, Am is the acceleration of the flying body 21 generated in the direction perpendicular to Vm.

It is known that the flying object can associate with the target object if the flying object is viewed with a constant line-of-sight angle as seen from the flying object. In order to achieve the following, the rate of change of the line-of-sight angle is multiplied by the approach speed Vc, as shown in equation (1),
Furthermore, the value obtained by multiplying the navigation constant n is calculated as the acceleration command to the flying object. This equation (1) is a generally known equation for proportional navigation. The approach speed Vc can be represented by the sum of Vmc and Vtc in FIG. 22, but in an actual flying object, as described above, the difference in frequency between the radar transmission wave 23 and the radar reception wave 24 in FIG. 21, that is, It is obtained by measuring the Doppler frequency.

[0006]

[Equation 1]

The specific structure and operation of the conventional guided vehicle will be described. FIG. 23 is a block diagram of a conventional guided vehicle, where 1 is an antenna, 2 is a swing angle detection circuit,
3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilizing and driving circuit, 5 is a directional coupler, 6 is a radar transmitter, 7 is a radar receiver, 8 is a frequency mixer, 9 is an angular error detection circuit, and 14 is Autopilot, 15 steering device, 16 airframe, 17 acceleration and angular velocity sensor, 27
Is an acceleration command calculation circuit.

Next, the operation will be described with reference to FIGS. 21 and 23. The high frequency power output from the radar transmitter 6 of FIG. 23 is fed to the antenna 1 through the directional coupler 5 and becomes the radar transmission wave 23 of FIG. 21 and is radiated toward the target object 22. This radar transmission wave 23 is the target object 2
It is reflected by 2 and becomes a radar reception wave 24, which is received by the antenna 1. The antenna 1 converts the radar reception wave 24 into an electric signal and sends it to the radar receiver 7 via the directional coupler 5. The radar receiver 7 amplifies this electric signal and outputs it to the angle error detection circuit 9 and the frequency mixer 8. The angle error detection circuit 9 receives this electric signal, detects the angle error of the antenna with respect to the target, and outputs it to the antenna space stabilization and drive circuit 4.

On the other hand, the antenna space stabilizing and driving circuit 4
Then, the antenna swing angle signal obtained from the antenna swing angle detection circuit 2, the signal of the antenna angular velocity detection sensor 3 mounted on the antenna, and the signal from the angle error detection circuit 9 are received by the radar receiver 7. The antenna 1 is angle-tracked in the direction of the target object 22 in FIG. 21 so that the signal strength becomes maximum.

The received signal of the radar receiver 7 sent to the frequency mixer 8 is sent to the radar transmitter 16 by the frequency mixer 8.
The radar transmission frequency is compared with the radar transmission frequency, and the frequency difference between the two is output as the Doppler frequency.

The angle error signal obtained from the angle error detection circuit 9 is a guide flying object 21 obtained from the frequency mixer 8.
And the Doppler frequency proportional to the relative approach speed of the target object 22 and the acceleration command calculation circuit 27 synthesizes the acceleration command required for guidance according to the above-described proportional navigation formula.

Further, the acceleration command output from the acceleration command calculation circuit 27 and the machine body acceleration and angular velocity measured by the acceleration sensor and the angular velocity sensor 17 are input to the autopilot 14 and compared to be a steering angle command signal.

The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the airframe 16 is guided to the target while performing necessary trajectory correction. To go.

Next, the semi-active induction system will be described with reference to FIG.

In the figure, 1 is an antenna, 21 is a flying object, 22 is a target object, 28 is an aircraft that transmits a radar transmission wave toward the target, 23 is a radar transmission wave, and 24 is a radar reception wave The direction of the target seen from the body, that is, the line of sight, 25 is a predetermined reference line, 26 is the axis of the flying body,
Vm is the velocity vector of the flying object, Am is the acceleration vector of the flying object that is generated perpendicular to Vm, Vt is the target velocity vector, σ is the visual line angle formed by the visual line 24 and the reference line 25, and λ is the flying vector. The antenna swing angle formed by the body axis 26 and the antenna, a is the angle of attack formed by the flying body velocity vector Vm and the flying body axis 26.

In the above configuration, the aircraft 28 has a velocity Vt.
Radar transmitted wave 23 toward target object 22
And the radar transmission wave 23 reflected by the target object 22 is received as a radar reception wave 24. Antenna 1
The radar transmission transmitted by the antenna 1 is the visual line angle σ from the angle difference between the direction in which the radar received wave 24 is received and the preset reference line 25, and the change rate of the visual line angle σ from the change over time. From the frequency difference between the wave 23 and the received radar received wave 24, that is, the Doppler frequency, the approach speed between the target object 22 and the flying body 21, and the radar received wave 24 after the antenna 1 transmits the radar transmitted wave 23 The distance between the target object 22 and the flying body 21 can be measured from the time difference until the reception. Since the flying body 21 associates with the target object 22, it is necessary to constantly generate a velocity vector Vm of the flying body 21 and an acceleration Am in the vertical direction according to the behavior of the target object 22, and continuously correct the trajectory thereof. .
A conventional general flying body guidance device calculates the acceleration Am required for the flying body 21 to meet the target object 22 using the proportional navigation. Here, although the radar transmission wave 23 is transmitted from the aircraft in this figure, it may be a radar transmission facility on the ground or a radar transmission facility on a ship.

Next, the passive induction system will be described with reference to FIG. In the figure, 21 is a flying object, 22 is a target object, 25 is a predetermined reference line, 26 is an axis of the flying object, 29 is infrared rays emitted from the target object 22 toward the flying object 21, and The direction of the target seen from the body, that is, the line of sight, 19 is an antenna for receiving the infrared rays emitted from the target object 22, Vm is the velocity vector of the flying body, and Am is the acceleration of the flying body generated perpendicular to Vm. Vector, Vt is the target velocity vector, σ is the visual line angle formed by the visual line 29 and the reference line 25, λ is the antenna swing angle formed by the aircraft axis 26 and the antenna 19, and a
Is the angle of attack formed by the velocity vector Vm of the flying vehicle 21 and the axis 26 of the flying vehicle.

In the above structure, the flying body 21 flying at the velocity Vm in the angular direction a with respect to the machine axis direction 26 of the flying body 21 is the target object 2 flying at the velocity Vt.
The infrared ray 29 radiated from the infrared ray receiving antenna 19
The visual line angle σ can be measured from the angle difference between the direction in which the light receiving antenna 19 receives the infrared ray 29 and the preset reference line 25. Further, the rate of change of the line-of-sight angle can be calculated from the change over time. Similarly to the active guidance type flying body, the passive guidance type flying body is associated with the target object 22, so that the velocity vector Vm of the flying body 21 and the acceleration Am in the vertical direction are matched with the behavior of the target object 22. , And its orbit must be constantly corrected. However, in the case of a passive guidance type flying device guidance device, unlike the active guidance type flying device guidance device, the information obtained from the target is only angle information, so the proportionality shown in equation (1) is used. When the navigation formula is used, the approach speed Vc is generally treated as an estimated value, and the acceleration Am required for the flying body 21 to meet the target object 22 is calculated.

[0019]

In the conventional active guidance type vehicle guidance system, a value obtained by multiplying the rate of change of the line-of-sight line angle and the approach speed by the navigation constant n is used as the required acceleration of the vehicle. Since it is calculated, the acceleration of the flying object is a value proportional to the rate of change of the line-of-sight line angle and the approach speed Vc, and it may not always be the optimum value. Further, also in the conventional passive guidance system flight guidance device, the value obtained by multiplying the estimated value of the change rate of the line-of-sight line angle and the approach speed Vc by the navigation constant n is used as in the active guidance system. Since the acceleration is calculated as the required acceleration, the acceleration of the flying object has a value proportional to the rate of change of the line-of-sight angle and the approach speed Vc, and may not always be the optimum value.

The present invention solves the above-mentioned problems and guides a flying object that can more smoothly guide the flying object to a target object as compared with a conventional guiding apparatus for a flying object using proportional navigation. The purpose is to get the device.

[0021]

[Means for Solving the Problems] A flying body guiding apparatus according to the present invention uses a conventional proportional navigation in calculating a necessary acceleration amount of a flying body for guiding a flying body toward a target object. Instead of the acceleration command calculation circuit that was used, the rate of change of the line-of-sight angle and the approach speed between the flying object and the target object are evaluated with a fuzzy function that incorporates human experience, and based on those evaluation results, Let's solve the above problem by using a fuzzy acceleration command calculation circuit that calculates the fuzzy value of the acceleration command by performing fuzzy inference and calculates the acceleration command to the flying object by defuzzifying the inference result. It is what

Further, the flying body guiding apparatus according to the present invention calculates an acceleration command using the conventional proportional navigation in calculating the required acceleration amount of the flying body for guiding the flying body toward the target object. Instead of the circuit, the rate of change of the line-of-sight angle, the approach speed between the flying object and the target object, and the relative distance between the flying object and the target object are evaluated using a fuzzy function that incorporates human experience. Use a fuzzy acceleration command calculation circuit that calculates the fuzzy value of the acceleration command to the flying object by performing fuzzy inference based on the above, and calculates the acceleration command to the flying object by defuzzifying the inference result. It is a thing.

The flying body guiding apparatus according to the present invention uses a conventional acceleration command calculation circuit using proportional navigation in calculating the required acceleration amount of the flying body for guiding the flying body toward the target object. Instead, the rate of change of the antenna swing angle and the approach speed between the flying object and the target object are evaluated with a fuzzy function that incorporates human experience, and the fuzzy value of the acceleration command to the flying object is based on those evaluation results. To solve the above problem by using a fuzzy acceleration command calculation circuit that calculates the acceleration command to the flying object by performing fuzzy inference and defuzzifying the inference result. .

Further, the flying body guiding apparatus according to the present invention calculates acceleration command using the conventional proportional navigation in calculating the required acceleration amount of the flying body for guiding the flying body toward the target object. Instead of the circuit, the rate of change of the line-of-sight angle and the approach speed between the flying object and the target object are evaluated with a fuzzy function that incorporates human experience, and the fuzzy acceleration command to the flying object is based on the evaluation results. It is intended to solve the above-mentioned problem by using a fuzzy acceleration command calculation circuit that obtains a value by performing fuzzy inference and calculates the acceleration command to the flying object by defuzzifying the inference result. is there.

The flying body guiding apparatus according to the present invention uses a conventional acceleration command calculation circuit using proportional navigation in calculating the required acceleration amount of the flying body for guiding the flying body toward the target object. Instead, the rate of change of the antenna swing angle and the approach speed between the flying object and the target object are evaluated with a fuzzy function that incorporates human experience, and the fuzzy value of the acceleration command to the flying object is based on those evaluation results. To solve the above problem by using a fuzzy acceleration command calculation circuit that calculates the acceleration command to the flying object by performing fuzzy inference and defuzzifying the inference result. .

The flying body guiding apparatus according to the present invention uses a conventional acceleration command calculation circuit using proportional navigation when calculating the required acceleration amount of the flying body for guiding the flying body toward the target object. Instead, the rate of change of the line-of-sight angle is evaluated by a fuzzy function that incorporates human experience, and the fuzzy value of the acceleration command to the flying object is obtained by performing fuzzy inference based on those evaluation results. It uses a fuzzy acceleration command calculation circuit that calculates the acceleration command to the flying object by de-fuzzying.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. One of the embodiments of the present invention will be described with reference to FIGS. 1 to 5. FIG. 1 is a diagram showing the configuration of the first embodiment, in which 1 is an antenna, 2 is a swing angle detection circuit, 3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilization and drive circuit, and 5 is directionality. A coupler, 6 is a radar transmitter, 7 is a radar receiver, 8 is a frequency mixer, 9 is an angle error detection circuit, 10 is a fuzzy acceleration command calculation circuit, 11 is a fuzzy processing section in the fuzzy acceleration command calculation circuit, 12 Is a fuzzy inference execution unit in the fuzzy acceleration command calculation circuit, 13 is a defuzzification processing unit in the fuzzy acceleration command calculation circuit, 14 is an autopilot, 15 is a steering device, 16 is an airframe, 17 is an acceleration and angular velocity sensor. . FIG. 2 is a diagram showing a fuzzy function, that is, a membership function, which incorporates human experience with respect to the rate of change of the line-of-sight line angle between the flying object and the target object and the approaching speed, which are incorporated in the fuzzy processing section 11. is there. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. The obtained rate of change of the line-of-sight angle and the approaching speed are evaluated by human experience.

FIG. 3 is a fuzzy rule for implementing the fuzzy inference incorporated in the fuzzy inference executing section 12, which shows the amount of acceleration of the flying object with respect to the rate of change of the visual line angle and the evaluation result of the approach speed. It shows the rules for determining the fuzzy value. FIG. 4 is a membership function for the acceleration value used in the defuzzification processing section 13, and the fuzzy value of the acceleration inferred by the fuzzy rule is graded by human experience. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small,
ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. FIG. 5A is a diagrammatic representation of the method of the defuzzification processing in the defuzzification processing section 13, and shows means for quantifying the grade of the determined acceleration amount as a control amount. .

Next, the operation of the above embodiment will be described with reference to FIGS. 1 to 9 and FIG. The high frequency power output from the radar transmitter 6 of FIG. 1 is fed to the antenna 1 through the directional coupler 5 and becomes the radar transmission wave 23 of FIG. 21 and is radiated toward the target object 22. This radar transmission wave 23 is reflected by the target object 22 and the radar reception wave 2
4, which is received by the antenna 1. The antenna 1 converts the radar reception wave 24 into an electric signal and sends it to the radar receiver 7 via the directional coupler 5 shown in FIG. The radar receiver 7 amplifies this electric signal and outputs it to the angle error detection circuit 9 and the frequency mixer 8. The angle error detection circuit 9 receives this electric signal, detects the angle error of the antenna with respect to the target, and outputs it to the antenna space stabilization and drive circuit 4.

On the other hand, the antenna space stabilizing and driving circuit 4
Then, the antenna swing angle signal obtained from the antenna swing angle detection circuit 2, the signal of the antenna angular velocity detection sensor 3 mounted on the antenna, and the signal from the angle error detection circuit 9 are received by the radar receiver 7. The antenna 1 is angle-tracked in the direction of the target object 22 in FIG. 21 so that the signal strength becomes maximum.

Further, the received signal of the radar receiver 7 sent to the frequency mixer 8 is frequency-compared with the radar transmission frequency of the radar transmitter 6 in the frequency mixer 8, and the frequency difference between the two is output as a Doppler frequency. Up to the same as the conventional flight guidance device.

Here, in the flying vehicle guiding apparatus according to the present invention, the time change of the angle error signal obtained from the angle error detection circuit 9 that has entered the fuzzy acceleration command calculation circuit 10, that is, the change rate of the line-of-sight angle. In addition, based on the Doppler frequency that is obtained from the frequency mixer 8 and is proportional to the approaching speed of the flying object 21 and the target object 22, the fuzzification processing unit 11 changes the visual line angle and the approaching speed according to FIG. Is evaluated, that is, fuzzy. Specifically, for a certain amount of change rate of visual line angle and approaching speed,
Each is positive large, positive medium, positive small, zero, negative small, negative medium,
The degree of agreement with either negative or large or two of them is represented by a number of 0 or more and 1 or less, that is, a grade. For example, assuming that a rate of change of the line-of-sight angle of 4 deg / s has entered the fuzzification processing unit 11, the result of the fuzzification for this value is the membership function for the rate of change of the line-of-sight angle in FIG. Using, the "positive and medium" degree of change of the line-of-sight angle is 0.67 and the "positive and small" degree is 0.33.

Next, the rate of change of the visual line angle and the approach speed, which have been fuzzified by the fuzzification processing section 11, enter the fuzzy reasoning execution section 12, and one or more of the 28 fuzzy rules shown in FIG. One or more acceleration inference results are obtained by performing fuzzy inference according to this rule. For example, the "positive and medium" degree of change in the line-of-sight angle is 0.6.
7 and the "positive and small" degree is 0.33, the "positive and large" degree of the approach speed is 0.2 and the "positive and medium" degree is 0.
If it is 8, then in this case line numbers 5, 6, 9 in FIG.
And 10 rules will be followed. Here, in the fuzzy rules, "and" generally means that the smaller one is taken, and according to the inference of line number 5, the acceleration of the missile is "positive and large" degree is 0.22. Similarly, by applying the rules of line numbers 6, 9 and 10, the missile accelerations are "positive and medium" degree 0.67, "positive and medium" degree 0.2 and "positive and small" degree 0, respectively. The inference result of 0.33 is obtained.

The results of inference of one or more accelerations obtained by the fuzzy inference execution unit 12 enter the defuzzification processing unit 13, and the membership function for acceleration of FIG.
According to the defuzzification processing method of (a), the acceleration value to the flying body is calculated. For example, according to the above example, the missile acceleration is "positive and large" at 0.22, "positive and medium" at 0.67, "positive and medium" at 0.2, and "positive and small".
If the degree is 0.33, it is a calculation for obtaining the barycentric position of the area of the shaded portion shown in FIG.

The operation after the fuzzy acceleration command calculation circuit 10 is the same as that of the conventional guidance system for flying objects, and the acceleration command output from the fuzzy acceleration command calculation circuit 10 and the acceleration sensor and the angular velocity sensor 17 are used for measurement. The body acceleration and the angular velocity are input to the autopilot 14 and compared with each other to form a steering angle command signal.

The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the airframe 16 is guided to the target while performing necessary trajectory correction. To go.

FIG. 6 shows the relationship between the rate of change of the line-of-sight angle and the approaching speed and the acceleration value of the flying object when the first embodiment is used. As shown in the figure, the rate of change in line-of-sight angle and approach speed are not simply proportional to the acceleration of the flying vehicle.
On the other hand, FIG. 7 shows the relationship between the rate of change of the line-of-sight angle and the approaching speed of the conventional guidance system for a flying vehicle using proportional navigation, and the acceleration value of the flying vehicle. The navigation constant used here was 4. As shown in the figure, when the conventional proportional navigation is used, the rate of change of the line-of-sight angle and the approach speed and the acceleration of the flying vehicle have different proportional relationships. 8 and 9 show comparisons between the simulation results obtained by associating the virtual target with the guidance device of the first embodiment and the simulation results obtained by the association with the target using the conventional guidance device.
FIG. 8 compares flight trajectories of a flying object and a target object. FIG. 9 compares the time histories of the accelerations of the flying objects when flying toward the target. Although no significant difference can be seen in FIG.
In the above, it is clear that the flying body using the guiding device of the present invention guides to the target with a smaller acceleration value.

The first embodiment is created by assuming a certain virtual flying object model, and a sawtooth function is used as the membership function of the change rate of the visual line angle and the approaching speed. However, this may be trapezoidal or bell-shaped, and this device is actually applied to positive, large, positive medium, positive small, zero, negative small, negative medium, negative large dividing positions. Since it will be designed according to the system to be used,
It is conceivable that effects similar to those of the present invention can be obtained with combinations other than those shown in FIG.

Further, in the first embodiment, a total of 28 fuzzy rules are set in accordance with the rate of change of the line-of-sight angle and the fuzzy value of the approaching speed, but the number and contents of these rules actually apply this device. Since it is designed according to the system, it is considered that the same effects as the present invention can be obtained even in combinations other than those shown in FIG.

Furthermore, in the first embodiment, the sawtooth function is used as the membership function of acceleration, but it may be trapezoidal or bell-shaped, and is positive large, positive medium, positive small and zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. It is possible to obtain it.

Further, in the first embodiment, the method of lowering the apex of the sawtooth function shown in FIG. 5A is adopted as the defuzzification processing, but the system to which the present apparatus is actually applied is used. Since it will be designed according to
It is conceivable that the same effect as that of the present invention can be obtained by using a means other than (a), for example, a method of cutting a triangular vertex to form a trapezoid.

Embodiment 2. In the first embodiment, the change rate of the line-of-sight angle and the approach speed between the flying object and the target object are set to 2
A fuzzy function that incorporates human experience was evaluated for one input item, and the acceleration command to the flying object was calculated by performing fuzzy inference based on the evaluation results. A fuzzy function that incorporates human experience is evaluated for the three input items by adding the relative distance between the body and the target object, and fuzzy inference is performed on the acceleration command to the flying body based on the evaluation results. This is the second embodiment. FIG.
Embodiment 2 with reference to FIG. 5, FIG. 10, FIG. 11 and FIG.
Will be described. FIG. 10 is a diagram showing the configuration of the second embodiment, in which 1 is an antenna, 2 is a swing angle detection circuit, 3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilization and drive circuit, and 5 is directionality. Coupler, 6 radar transmitter, 7 radar receiver, 8 frequency mixer, 9 angular error detection circuit, 10 fuzzy acceleration command calculation circuit,
Reference numeral 11 is a fuzzy processing section in the fuzzy acceleration command calculation circuit, 12 is a fuzzy reasoning execution section in the fuzzy acceleration command calculation circuit, 13 is a defuzzy processing section in the fuzzy acceleration command calculation circuit, 14 is an autopilot, and 15 is The steering device, 16 is a machine body, 17 is an acceleration and angular velocity sensor, and the processes up to this point are the same as those in the first embodiment. Reference numeral 18 is a distance detection circuit. FIG. 11 shows a fuzzy function, that is, a membership function, which incorporates human experience with respect to the rate of change of the line-of-sight line angle between the flying object and the target object, the approach speed, and the relative distance, which are incorporated in the fuzzy processing section 11. FIG. In the figure, PB is positive and large, PM is positive and medium, P
S is positive and small, ZR is zero, NS is negative and small, NM is negative and medium, NB is negative and large, and human beings respond to the rate of change in line-of-sight angle and approach speed obtained by the flying object. It gives the evaluation by experience. FIG. 12 is a fuzzy rule for implementing the fuzzy reasoning incorporated in the fuzzy reasoning implementation unit 12. The figure shows the change rate of the line-of-sight angle, the approach speed, and the amount of acceleration of the flying object with respect to the evaluation result of the relative distance. It shows the rules for determining the fuzzy value.
The rest is the same as in the first embodiment, and FIG. 4 is a membership function for the acceleration value used in the defuzzification processing unit 11, and the fuzzy value of the acceleration inferred by the fuzzy rule is graded by human experience. It is something to add. In the figure, PB is positive and large, PM is positive and medium, PS
Is positive and small, ZR is zero, NS is negative and small, NM is negative and medium,
NB is negative and represents large. Further, FIG. 5 is a diagrammatic representation of the method of defuzzification processing in the defuzzification processing section 13 and shows means for quantifying the determined acceleration amount grade as a control amount.

Next, FIGS. 4, 5, 10, 11, and 12.
The operation of the above embodiment will be described with reference to FIG.
The high frequency power output from the radar transmitter 6 in FIG. 10 is fed to the antenna 1 through the directional coupler 5 and becomes the radar transmission wave 23 in FIG. 21 and is radiated toward the target object 22. The radar transmission wave 23 is reflected by the target object 22 to become a radar reception wave 24, which is received by the antenna 1. The antenna 1 converts the radar reception wave 24 into an electric signal and sends it to the radar receiver 7 via the directional coupler 5 shown in FIG. The radar receiver 7 amplifies this electric signal and outputs it to the angle error detection circuit 9 and the frequency mixer 8. The angle error detection circuit 9 receives this electrical signal and detects the angle error of the antenna with respect to the target, and the antenna space stabilization and drive circuit 4
Output to On the other hand, antenna space stabilization and drive circuit 4
Then, the antenna swing angle signal obtained from the antenna swing angle detection circuit 2, the signal from the antenna angular velocity detection sensor 3 mounted on the antenna, and the signal from the angle error detection circuit 9 are received by the radar receiver 7. The antenna 1 is angle-tracked in the direction of the target object 22 in FIG. 21 so that the signal strength becomes maximum. Further, the received signal of the radar receiver 7 sent to the frequency mixer 8 is frequency-compared with the radar transmission frequency of the radar transmitter 6 by the frequency mixer 8, and the frequency difference between the two is output as a Doppler frequency. It is similar to the flying device guidance device.

Here, in the flying body guiding apparatus according to the present invention, let's fly from the time lag between the radar transmission wave output from the radar transmitter 6 and the radar reception wave amplified by the radar receiver 7. A distance detection circuit 18 for measuring the relative distance between the body 21 and the target object 22 is provided, and the relative distance output from the distance detection circuit 18 and the time change of the angle error signal obtained from the angle error detection circuit 9, that is, the visual line. Angle change rate and frequency object 21 obtained from frequency mixer 8
Based on the Doppler frequency that is proportional to the approach speed between the target object 22 and the target object 22, the fuzzification processing unit 11 evaluates the rate of change of the line-of-sight angle, the approach speed, and the relative distance obtained, that is, fuzzy, according to FIG. Next, the rate of change of the line-of-sight angle, the approach speed, and the relative distance, which are fuzzified by the fuzzification processing unit 11, enter the fuzzy reasoning execution unit 12, and one or more of the 112 fuzzy rules shown in FIG. One or more acceleration inference results are obtained by performing fuzzy inference according to this rule.

The subsequent operation is the same as in the first embodiment,
The inference result of one or more accelerations obtained by the fuzzy inference execution unit 12 enters the defuzzification processing unit 13 and follows the membership function for acceleration of FIG. 4 and the defuzzification processing method of FIG. Calculate the acceleration value to the body. The acceleration command output from the fuzzy acceleration command calculation circuit 10 and the body acceleration and angular velocity measured by the acceleration sensor and the angular velocity sensor 17 are the autopilot 1
4 is input and compared to form a steering angle command signal. The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the airframe 16 is guided to the target while performing necessary trajectory correction.

In the second embodiment, a virtual flying object model is assumed, and the membership functions of the visual line angle change rate, the approach speed, and the relative distance are all serrated. Although a function was used, this may be a trapezoid or a bell shape, and the delimiter positions of positive large, positive medium, positive small, zero, negative small, negative medium, negative large Since the device is designed according to the system to which the device is applied, it is conceivable that the same effects as those of the present invention can be obtained even in combinations other than that shown in FIG.

In the second embodiment, a total of 112 fuzzy rules are set in accordance with the rate of change of the line-of-sight angle, the approaching speed and the fuzzy value of the relative distance. Since it is designed according to the system to which is applied, it is conceivable that the same effects as the present invention can be obtained even in combinations other than those shown in FIG.

Further, in the second embodiment, the sawtooth function is used as the membership function of acceleration, but this may be trapezoidal or bell-shaped, and is positive large, positive medium, positive small, zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. What can be obtained is the same as in the first embodiment.

Furthermore, in the second embodiment, the method of lowering the apex of the sawtooth function shown in FIG. 5A is used as the defuzzification processing, but a system to which the present apparatus is actually applied is used. Since it is designed according to the embodiment, it is considered that the same effect as the present invention can be obtained even if a means other than FIG. It is similar to the case of 1.

Embodiment 3 In the first embodiment, the rate of change of the line-of-sight angle and the approach speed between the flying object and the target object are evaluated by a fuzzy function that incorporates human experience, and the acceleration command to the flying object is determined based on those evaluation results. It was calculated by performing fuzzy inference, but if for some reason information on the rate of change of the line-of-sight angle cannot be obtained, the method of calculating the acceleration command is to use the antenna swing angle instead of the rate of change of the line-of-sight angle. It is possible to use the rate of change of The third embodiment will be described with reference to FIGS. 4, 5, 13, 14, and 15. FIG. 13 is a diagram showing the configuration of the third embodiment, in which 1 is an antenna, 2 is a swing angle detection circuit, 3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilization and drive circuit, and 5 is directionality. Combiner, 6
Is a radar transmitter, 7 is a radar receiver, 8 is a frequency mixer, 9 is an angle error detection circuit, 10 is a fuzzy acceleration command calculation circuit, 11 is a fuzzy processing section in the fuzzy acceleration command calculation circuit, and 12 is a fuzzy acceleration command. A fuzzy inference execution unit in the calculation circuit, 13 a defuzzification processing unit in the fuzzy acceleration command calculation circuit, 14 an autopilot,
Reference numeral 15 is a steering device, 16 is an airframe, and 17 is an acceleration and angular velocity sensor, which are the same as those in the first embodiment up to this point.
However, in the third embodiment, the input to the fuzzy acceleration command calculation circuit 10 is the antenna swing angle change rate from the antenna angular velocity detection sensor and the Doppler frequency from the frequency mixer 8, that is, the approach velocity information between the flying object and the target object. Has become. FIG. 14 is a diagram showing a fuzzy function, that is, a membership function, which incorporates human experience with respect to the rate of change of the antenna swing angle between the flying object and the target object and the approaching speed, which are incorporated in the fuzzy processing section 11. Is. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. The obtained rate of change of the line-of-sight angle and the approaching speed are evaluated by human experience. FIG. 15 shows the fuzzy inference execution unit 12 described above.
Is a fuzzy rule for implementing fuzzy inference, which shows a rule for determining the fuzzy value of the amount of acceleration of the flying object with respect to the evaluation result of the change rate of the antenna swing angle and the approach speed. Is. The rest is the same as in the first embodiment, and FIG. 4 is a membership function for the acceleration value used in the defuzzification processing unit 13. The fuzzy value of the acceleration inferred by the fuzzy rule is graded by human experience. It is something to add. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small,
ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. FIG. 5A is a diagrammatic representation of the method of defuzzification processing in the defuzzification processing section, and shows a means for quantifying the grade of the determined acceleration amount as a control amount.

Next, FIGS. 4, 5, 13, 14, and 15.
The operation of the above embodiment will be described with reference to FIG.
As shown in FIG. 21, the antenna swing angle λ is 2 in the machine axis direction.
6 is the direction of the antenna 1 measured from 6, which is approximately the direction of the target object 22 measured from the machine axis direction 26.
On the other hand, the visual line angle σ is the target object 22 measured from the reference line 25.
Since the antenna swing angle λ and the line-of-sight angle σ are different from each other, the reference lines are different from each other, but since they are in the relationship of complementing each other approximately, the rate of change of the swing angle of the antenna 1 is also approximate. It can be said that it is equal to the rate of change of the visual line angle σ. Therefore, in the third embodiment, the signal input to the fuzzification processing unit 11 in FIG. 13 is changed from that in the first embodiment, and the obtained rate of change of the antenna swing angle and the approaching speed are used as the fuzzification processing unit 11. 14, the obtained rate of change of the antenna swing angle and the approaching speed are evaluated, that is, fuzzyized. Then, fuzzy inference is performed according to the fuzzy rule of FIG. 15 using the obtained rate of change of the antenna swing angle and the grade for the approaching speed to obtain fuzzy values of one or more accelerations. The subsequent steps are the same as those in the first embodiment, and the obtained fuzzy values of one or more accelerations are graded in FIG. 4, and the obtained one or more acceleration grades are subjected to the defuzzification processing of FIG. Use the required acceleration Am for the flying object. The inference result of one or more accelerations obtained by the fuzzy inference execution unit 12 enters the defuzzification processing unit 13 and follows the membership function for acceleration of FIG. 4 and the defuzzification processing method of FIG. Calculate the acceleration value to the body. The acceleration command output from the fuzzy acceleration command calculation circuit 10 and the body acceleration and the angular velocity measured by the acceleration sensor and the angular velocity sensor 17 are input to the autopilot 14 and compared to be a steering angle command signal. The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the body 16 is guided to the target while performing necessary trajectory correction.

The third embodiment is created by assuming a certain virtual flying object model, and a sawtooth function is used for the membership function of the rate of change of the antenna swing angle and the approach speed. I used it, but it may be trapezoidal or bell-shaped, and it is positive large, positive medium, positive small.
Since the delimiter positions of zero, negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than FIG. Can be obtained.

Further, in the third embodiment, a total of 28 fuzzy rules are set in accordance with the change rate of the antenna swing angle and the fuzzy value of the approaching speed, but the number and contents of these rules are actually applied to this device. Since it is designed according to the system to be used, it is conceivable that the same effect as the present invention can be obtained even in a combination other than that shown in FIG.

Further, in the third embodiment, the sawtooth function is used as the membership function of acceleration, but it may be trapezoidal or bell-shaped, and it is positive large, positive medium, positive small and zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. What can be obtained is the same as in the first embodiment.

Further, in the third embodiment, as the defuzzification processing, the method of lowering the apex of the sawtooth function shown in FIG. 5A is adopted, but the system to which the present apparatus is actually applied is used. Since it is designed according to the embodiment, it is considered that the same effect as the present invention can be obtained even if a means other than FIG. It is similar to the case of 1.

Embodiment 4 In the first embodiment, for an active guidance type flying object, a fuzzy function that incorporates human experience for two input items, that is, the change rate of the line-of-sight angle and the approach speed between the flying object and the target object. We applied the method of calculating the acceleration command to the flying object based on the evaluation results by performing fuzzy inference based on the evaluation results, but applied the same method to the semi-active guidance type flying object. This is the fourth embodiment. The fourth embodiment will be described with reference to FIGS. 2, 3, 4, 5, and 16. FIG. 16 is a diagram showing the configuration of the fourth embodiment, in which 1 is an antenna, 2 is a swing angle detection circuit, 3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilization and drive circuit, and 7 is radar reception. Machine, 8 is a frequency mixer, 9 is an angle error detection circuit, 10 is a fuzzy acceleration command calculation circuit, 11 is a fuzzy processing section in the fuzzy acceleration command calculation circuit, 12 is a fuzzy inference execution section in the fuzzy acceleration command calculation circuit, Reference numeral 13 is a defuzzification processing unit in the fuzzy acceleration command calculation circuit, 14 is an autopilot, 15 is a steering device, 16 is an airframe, and 17 is an acceleration and angular velocity sensor. 2 to 5 are the same as those of the first embodiment. FIG. 2 shows a fuzzy function, that is, a membership function that incorporates human experience with respect to the rate of change of the line-of-sight line angle between the flying object and the target object, the approach speed, and the relative distance, which is incorporated in the fuzzy processing section 11. FIG. In the figure, PB is positive and large, PM is positive and medium, PS
Is positive and small, ZR is zero, NS is negative and small, NM is negative and medium,
NB represents negative and large, and gives a human experience evaluation to the rate of change of the visual line angle and the approaching speed obtained by the flying object. FIG. 3 is a fuzzy rule for carrying out the fuzzy reasoning incorporated in the fuzzy reasoning execution unit 12, which shows the rate of change of the line-of-sight angle, the approach speed, and the amount of acceleration of the flying object with respect to the evaluation result of the relative distance. It shows the rules for determining the fuzzy value. FIG. 4 is a membership function for the acceleration value used in the defuzzification processing section 11, and the fuzzy value of the acceleration inferred by the fuzzy rule is graded by human experience. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. Further, FIG. 5 is a diagrammatic representation of the method of defuzzification processing in the defuzzification processing section 13 and shows means for quantifying the determined acceleration amount grade as a control amount.

Next, the operation of the above embodiment will be described with reference to FIGS. 2, 3, 4, 5, 16 and 24. FIG.
The radar transmission wave 23 is emitted from the aircraft 28 of No. 4 toward the target object 22. This radar transmission wave 23 is the target object 2
It is reflected by 2 and becomes a radar reception wave 24, which is received by the antenna 1. The antenna 1 converts the radar reception wave 24 into an electric signal and sends it to the radar receiver 7 in FIG. The radar receiver 7 amplifies this electric signal to detect the angle error detection circuit 9
And output to the frequency mixer 8. The angle error detection circuit 9 receives this electric signal, detects the angle error of the antenna with respect to the target, and outputs it to the antenna space stabilization and drive circuit 4. On the other hand, in the antenna space stabilization and drive circuit 4, the antenna swing angle signal obtained from the antenna swing angle detection circuit 2, the signal of the antenna angular velocity detection sensor 3 mounted on the antenna, and the angle error detection circuit 9 are transmitted. 24, the antenna 1 is angle-tracked in the direction of the target object 22 in FIG. 24 so that the intensity of the received signal of the radar receiver 7 becomes maximum. Further, the reception signal of the radar receiver 7 sent to the frequency mixer 8 is frequency-compared with the reference frequency which is tuned in advance to the frequency of the radar transmission wave of the aircraft by the frequency mixer 8 before the launch of the flying object, and both of them are compared. The frequency difference is output as the Doppler frequency, and up to this point, it is the same as the conventional flight guidance device.

Here, in the flying body guiding apparatus according to the present invention, the time change of the angle error signal obtained from the angle error detection circuit 9 that has entered the fuzzy acceleration command calculation circuit 10, that is, the change rate of the line-of-sight angle. In addition, based on the Doppler frequency that is obtained from the frequency mixer 8 and is proportional to the approaching speed of the flying object 21 and the target object 22, the fuzzification processing unit 11 changes the visual line angle and the approaching speed according to FIG. Is evaluated, that is, fuzzy. Next, the rate of change of the line-of-sight angle and the approaching speed that have been fuzzified by the fuzzification processing unit 11 enter the fuzzy reasoning execution unit 12, and one or more of the 28 fuzzy rules shown in FIG. The fuzzy inference is performed in accordance with to obtain at least one acceleration inference result. The inference result of one or more accelerations obtained by the fuzzy inference execution unit 12 enters the defuzzification processing unit 13 and follows the membership function for acceleration of FIG. 4 and the defuzzification processing method of FIG. The acceleration value to the body will be calculated.
The operation after the fuzzy acceleration command calculation circuit 10 is the same as that of the conventional guidance device for a flying vehicle, and the acceleration command output from the fuzzy acceleration command calculation circuit 10 and the body acceleration measured by the acceleration sensor and the angular velocity sensor 17 are used. And the angular velocity are input to and compared with the autopilot 14 to form a steering angle command signal. The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the body 16 is guided to the target while performing necessary trajectory correction.

The fourth embodiment is created by assuming a certain virtual flying object model, and a sawtooth function is used as the membership function of the rate of change of the visual line angle and the approach speed. Although it may be trapezoidal or bell-shaped, this device can also be used for the positive, large, positive medium, positive small, zero, negative small, negative medium, negative large separation positions. Since it is designed according to the system to which it is applied, it is conceivable that effects similar to those of the present invention can be obtained even in combinations other than those shown in FIG.

In the fourth embodiment, a total of 28 fuzzy rules are set in accordance with the rate of change of the line-of-sight angle, the approach speed and the fuzzy value of the relative distance. Since it is designed according to the system to which is applied, it is conceivable that the same effects as the present invention can be obtained even in combinations other than those shown in FIG.

Furthermore, in the fourth embodiment, the sawtooth function is used as the membership function of acceleration, but it may be trapezoidal or bell-shaped, and is positive large, positive medium, positive small, zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. What can be obtained is the same as in the first embodiment.

Further, in the fourth embodiment, as the defuzzification processing, the method of lowering the apex of the sawtooth function shown in FIG. 5A is adopted, but the system to which the present apparatus is actually applied is used. Since it is designed according to the embodiment, it is considered that the same effect as the present invention can be obtained even if a means other than FIG. It is similar to the case of 1.

Embodiment 5 FIG. In the fourth embodiment, the rate of change of the line-of-sight angle and the approach speed between the flying object and the target object are evaluated by a fuzzy function that incorporates human experience for a semi-active guidance type flying object. We applied a method to calculate the acceleration command to the flying object based on the evaluation result by performing fuzzy inference, but if for some reason information on the rate of change of the line-of-sight angle cannot be obtained, calculate the acceleration command. As a method of doing so, it is possible to use the change rate of the antenna swing angle instead of the change rate of the line-of-sight angle, as in the third embodiment. An embodiment will be described with reference to FIGS. 4, 5, 14, 15, and 17. FIG. 17 is a diagram showing the configuration of the fifth embodiment, in which 1 is an antenna, 2 is a swing angle detection circuit,
3 is an antenna angular velocity detection sensor, 4 is an antenna space stabilization and drive circuit, 7 is a radar receiver, 8 is a frequency mixer, 9 is an angle error detection circuit, 10 is a fuzzy acceleration command calculation circuit, and 11 is a fuzzy acceleration command calculation circuit. In the fuzzy processing section, 12 is a fuzzy inference execution section in the fuzzy acceleration command calculation circuit, 13 is a defuzzification processing section in the fuzzy acceleration command calculation circuit, 14 is an autopilot,
Reference numeral 15 is a steering device, 16 is an airframe, and 17 is an acceleration and angular velocity sensor, which are the same as those in the fourth embodiment up to this point.
However, the input to the fuzzy acceleration command calculation circuit 10 in the fourth embodiment is the antenna swing angle change rate from the antenna angular velocity detection sensor 3 and the Doppler frequency from the frequency mixer 8, that is, the approach speed information between the flying object and the target object. Has become. FIG. 14 is a diagram showing a fuzzy function, that is, a membership function, which incorporates human experience with respect to the rate of change of the antenna swing angle between the flying object and the target object and the approaching speed, which are incorporated in the fuzzy processing section 11. Is.
In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. The obtained rate of change of the line-of-sight angle and the approaching speed are evaluated by human experience. FIG. 15 shows the fuzzy inference execution unit 12 described above.
Is a fuzzy rule for implementing fuzzy inference, which shows a rule for determining the fuzzy value of the amount of acceleration of the flying object with respect to the evaluation result of the change rate of the antenna swing angle and the approach speed. Is. The following is the same as the first embodiment, and FIG. 4 shows the defuzzification processing unit 1 described above.
This is a membership function for acceleration values used in No. 3, and the fuzzy value of acceleration inferred by the above fuzzy rule is graded by human experience. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR
Is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. FIG. 5A is a diagrammatic representation of the method of defuzzification processing in the defuzzification processing section, and shows a means for quantifying the grade of the determined acceleration amount as a control amount.

Next, FIGS. 4, 5, 14, 15, and 17.
The operation of the above embodiment will be described with reference to FIG.
As shown in FIG. 24, the antenna swing angle λ is 2 in the machine axis direction.
6 is the direction of the antenna 1 measured from 6, which is approximately the direction of the target object 22 measured from the machine axis direction 26.
On the other hand, the visual line angle σ is the target object 22 measured from the reference line 25.
Since the antenna swing angle λ and the line-of-sight angle σ are different from each other, the reference lines are different from each other, but since they are in the relationship of complementing each other approximately, the rate of change of the swing angle of the antenna 1 is also approximate. It is the same as in the third embodiment that it can be set to be equal to the change rate of the visual line angle σ. Therefore, in the fifth embodiment, as in the third embodiment, the signal input to the fuzzification processing unit 11 in FIG. 13 is used as the obtained antenna swing angle change rate and approaching speed, and the fuzzification processing unit 11 is used. 14, the obtained rate of change of the antenna swing angle and the approaching speed are evaluated, that is, fuzzyized. Then, fuzzy inference is performed according to the fuzzy rule of FIG. 15 using the obtained rate of change of the antenna swing angle and the grade for the approaching speed to obtain fuzzy values of one or more accelerations. The subsequent steps are the same as those in the first embodiment. The obtained fuzzy values of one or more accelerations are graded in FIG. 4, and the obtained one or more acceleration grades are shown in FIG.
Using the defuzzification process of (a), the acceleration Am required for the flying body is set.

The fifth embodiment is prepared by assuming a certain virtual flying object model, and a sawtooth function is used as the membership function of the rate of change of the antenna swing angle and the approach speed. I used it, but it may be trapezoidal or bell-shaped, and it is positive large, positive medium, positive small.
Since the delimiter positions of zero, negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than FIG. Can be obtained.

Further, in the fifth embodiment, a total of 28 fuzzy rules are set in accordance with the change rate of the antenna swing angle and the fuzzy value of the approaching speed, but the number and contents of these rules are actually applied to this device. Since it is designed according to the system to be used, it is conceivable that the same effect as the present invention can be obtained even in a combination other than that shown in FIG.

Further, although the sawtooth function is used as the membership function of acceleration in the fifth embodiment, it may be trapezoidal or bell-shaped, and it is positive large, positive medium, positive small and zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. What can be obtained is the same as in the first embodiment.

Further, in the fifth embodiment, as the defuzzification processing, a method of lowering the apex of the sawtooth function shown in FIG. 5A is adopted, but a system to which this apparatus is actually applied is used. Since it is designed according to the embodiment, it is considered that the same effect as the present invention can be obtained even if a means other than FIG. It is similar to the case of 1.

Embodiment 6 FIG. Generally, in the case of a passive induction type flying body of infrared ray guidance, since the approach speed information between the flying body and the target object cannot be obtained, the guidance of the flying body is performed using only the angle information between the flying body and the target object. Is being carried out. The sixth embodiment is directed to such a guide type flying body, and is shown in FIGS.
An embodiment will be described with reference to FIGS. 19 and 20. FIG.
8 is a diagram showing the configuration of the sixth embodiment, in which 19 is an infrared receiving antenna, 2 is a swing angle detection circuit, and 4 is
Is an antenna space stabilizing and driving circuit, 20 is a signal processing unit, 9 is an angle error detection circuit, 10 is a fuzzy acceleration command calculation circuit, 11 is a fuzzy processing unit in the fuzzy acceleration command calculation circuit, and 12 is a fuzzy acceleration command calculation. A fuzzy inference execution unit in the circuit, 13 a defuzzification processing unit in the fuzzy acceleration command calculation circuit, 14 an autopilot,
Reference numeral 15 is a steering device, 16 is an airframe, and 17 is an acceleration and angular velocity sensor. FIG. 19 is a diagram showing a fuzzy function, that is, a membership function, which incorporates human experience with respect to the change rate of the visual line angle between the flying object and the target object incorporated in the fuzzy processing section 11. In the figure, PB
Is positive and large, PM is positive and medium, PS is positive and small, ZR is zero,
NS is negative and small, NM is negative and medium, NB is negative and large, and the rate of change of the visual line angle obtained by the flying object is evaluated by human experience. FIG. 20 is a fuzzy rule for carrying out the fuzzy reasoning incorporated in the fuzzy reasoning execution unit 12 for determining the fuzzy value of the amount of acceleration of the flying object with respect to the evaluation result of the change rate of the line-of-sight angle. It shows the rules of. The following is the same as the first embodiment, and FIG. 4 shows the defuzzification processing unit 1 described above.
This is a membership function for acceleration values used in No. 3, and the fuzzy value of acceleration inferred by the above fuzzy rule is graded by human experience. In the figure, PB is positive and large, PM is positive and medium, PS is positive and small, ZR
Is zero, NS is negative and small, NM is negative and medium, and NB is negative and large. Further, FIG. 5 (a) is a diagrammatic representation of the method of the defuzzification processing in the defuzzification processing section 19 and shows means for quantifying the grade of the determined acceleration amount as a control amount. Is.

Next, FIGS. 4, 5, 18, 19, and 20.
The operation of the above embodiment will be described with reference to FIG.
In FIG. 25, first, the infrared ray 29 radiated from the target object 22 is received by the infrared ray receiving antenna 19, converted into an electric signal, and sent to the signal processor 20 in FIG. Signal processor 20
Amplifies this electric signal and outputs it to the angle error detection circuit 9. The angle error detection circuit 9 receives this electric signal, detects the angle error of the antenna with respect to the target, and outputs it to the antenna space stabilization and drive circuit 4. On the other hand, in the antenna space stabilization and drive circuit 4, the antenna swing angle signal obtained from the antenna swing angle detection circuit 2 and the signal from the angle error detection circuit 9 are received and the strength of the received signal of the signal processor 20 is increased. The infrared receiving antenna 19 is angle-tracked in the direction of the target object 22 in FIG.

Based on the time change of the angle error signal obtained from the angle error detection circuit 9, that is, the change rate of the visual line angle, the fuzzification processing section 11 evaluates the obtained change rate of the visual line angle according to FIG. That is, it becomes fuzzy. Next, the rate of change of the line-of-sight angle fuzzified by the fuzzification processing unit 11 enters the fuzzy reasoning execution unit 12, and the fuzzy reasoning is performed according to one or a plurality of the seven fuzzy rules shown in FIG. By carrying out, one or more inference results of acceleration are obtained.

The subsequent operation is the same as that of the first embodiment,
The inference result of one or more accelerations obtained by the fuzzy inference execution unit 12 enters the defuzzification processing unit 13 and follows the membership function for acceleration of FIG. 4 and the defuzzification processing method of FIG. Calculate the acceleration value to the body. The acceleration command output from the fuzzy acceleration command calculation circuit 10 and the body acceleration and angular velocity measured by the acceleration sensor and the angular velocity sensor 17 are the autopilot 1
4 is input and compared to form a steering angle command signal. The steering angle command output from the autopilot 14 is sent to the steering device 15, and the steering device 15 performs steering according to the command, whereby the body 16 is guided to the target while performing necessary trajectory correction.

In the sixth embodiment, a virtual flying object model is assumed, and a sawtooth function is used as the membership function of the rate of change of the visual line angle. It may be trapezoidal or bell-shaped,
The division positions of positive and large, positive and medium, positive and small, zero, negative and small, negative and medium, and negative and large are to be designed according to the system to which this device is actually applied. It is conceivable that effects similar to those of the present invention can be obtained in combinations other than the above.

In the sixth embodiment, a total of 7 fuzzy rules are set according to the membership function of the rate of change of the line-of-sight angle, but the number and contents of these rules depend on the system to which this device is actually applied. Since they are designed together, it is conceivable that effects similar to those of the present invention can be obtained even in combinations other than those shown in FIG.

Furthermore, in the sixth embodiment, the sawtooth function is used as the membership function of acceleration, but it may be trapezoidal or bell-shaped, and it is positive large, positive medium, positive small, zero. Since the delimiter positions of negative and small, negative and medium, and negative and large are also designed according to the system to which the present device is actually applied, the same effect as the present invention can be obtained even in combinations other than that shown in FIG. What can be obtained is the same as in the first embodiment.

Further, in the sixth embodiment, the method of lowering the peak of the sawtooth function shown in FIG. 5A is adopted as the defuzzification processing, but the system to which the present apparatus is actually applied is used. Since it is designed according to the embodiment, it is considered that the same effect as the present invention can be obtained even if a means other than FIG. It is similar to the case of 1.

[0077]

As described above, according to the present invention, unlike the conventional active guidance type flying device guiding apparatus, the rate of change of the line-of-sight angle and the approaching speed of the flying object and the target object are controlled by the human. It is possible to always maintain the optimum acceleration value of the flying object because it is calculated by performing fuzzy inference based on the evaluation results by evaluating the fuzzy function incorporating the experience of Thus, it is possible to more smoothly guide the flying object as compared with the conventional guiding apparatus for the flying object using proportional navigation in which the acceleration command is calculated in proportion to the rate of change of the line-of-sight angle and the approaching speed.

Further, according to the present invention, unlike the conventional active guidance type flying body guiding apparatus, the rate of change of the line-of-sight angle, the approach speed between the flying body and the target object, and the flying body and the target object. Since the relative distance to and is evaluated by a fuzzy function that incorporates human experience, and the acceleration command to the flying object is calculated by performing fuzzy inference based on those evaluation results, the acceleration value of the flying object is always It becomes possible to keep the optimum, and compared with the conventional navigation system of the proportional navigation that calculates the acceleration command that is simply proportional to the rate of change of the line-of-sight angle and the approaching speed, a smoother flying object Induction can be performed.

Further, according to the present invention, unlike the conventional active guidance type flying body guiding apparatus, human experience is used for the rate of change of the antenna swing angle and the approaching speed between the flying body and the target object. The fuzzy function is evaluated, and the acceleration command to the flying object is calculated by performing fuzzy inference based on the evaluation results, so it is possible to always keep the acceleration value of the flying object at an optimum value. It is possible to more smoothly guide a flying vehicle as compared with a conventional guiding apparatus for a flying vehicle that uses proportional navigation to calculate an acceleration command that is simply proportional to the rate of change and the approach speed.

Furthermore, according to the present invention, unlike the conventional semi-active guidance type flying body guiding apparatus, the rate of change of the line-of-sight angle and the approaching speed between the flying body and the target object are taken into consideration by human experience. The fuzzy function is used for evaluation, and the acceleration command to the flying object is calculated based on those evaluation results by performing fuzzy inference, so it is possible to always keep the acceleration value of the flying object optimal. It is possible to more smoothly guide a flying vehicle as compared with a conventional guiding apparatus for a flying vehicle that uses proportional navigation to calculate an acceleration command that is simply proportional to an angle change rate and an approaching speed.

Further, according to the present invention, different from the conventional semi-active guidance type flying body guiding apparatus, the human experience is used for the rate of change of the antenna swing angle and the approach speed between the flying body and the target object. Evaluated by fuzzy function,
Since the acceleration command to the flying object is calculated by performing fuzzy inference based on those evaluation results, it is possible to always keep the acceleration value of the flying object optimal, and the rate of change of the visual line angle and the approaching speed. It is possible to more smoothly guide a flying vehicle as compared with a conventional guiding apparatus for a flying vehicle that uses proportional navigation to calculate an acceleration command that is proportional to.

Furthermore, according to the present invention, unlike the conventional passive guidance type flying device guidance apparatus, the rate of change of the line-of-sight angle is evaluated by a fuzzy function incorporating human experience, and the evaluation results are obtained. Because the acceleration command to the flying object is calculated by performing fuzzy inference, it is possible to always keep the acceleration value of the flying object optimal, and to calculate the acceleration command that is simply proportional to the rate of change of the line-of-sight angle. It is possible to more smoothly guide the flying object as compared with the conventional guiding apparatus for the flying object using proportional navigation.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment of the present invention.

FIG. 2 is a diagram showing a membership function with respect to the rate of change of the line-of-sight line angle and the approach speed of the flying vehicle guiding device according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a fuzzy rule of a flying body guiding device according to a first embodiment of the present invention.

FIG. 4 is a diagram showing a membership function with respect to acceleration of the flying vehicle guiding device according to the first embodiment of the present invention.

FIG. 5 is a diagram showing a defuzzification process according to the first embodiment of the present invention.

FIG. 6 is a diagram showing the relationship between the rate of change of the line-of-sight angle and the approaching speed and the acceleration value of the flying object when the first embodiment of the present invention is used.

FIG. 7 is a diagram showing the relationship between the rate of change of the line-of-sight angle and the approaching speed of a guiding device for a flying vehicle using conventional proportional navigation, and the acceleration value of the flying vehicle.

FIG. 8 is a diagram showing a comparison of flight trajectories of a flying body and a target object when using a conventional flying body guidance device using proportional navigation and the flying body guidance device of the first embodiment. Is.

[FIG. 9] Acceleration of a flying object when flying toward a target using a conventional flying object guidance device using proportional navigation and the flying object guidance device of the first embodiment It is a figure which shows the comparison of the time history of.

FIG. 10 is a diagram showing a configuration of a second embodiment of the present invention.

FIG. 11 is a diagram showing membership functions with respect to the rate of change of the line-of-sight angle, the approaching speed, and the relative distance of the flying vehicle guiding apparatus according to the second embodiment of the present invention.

FIG. 12 is a diagram showing a fuzzy rule of a flying body guiding device according to a second embodiment of the present invention.

FIG. 13 is a diagram showing a configuration of a third embodiment of the present invention.

FIG. 14 is a diagram showing a membership function with respect to a change rate of an antenna swing angle and a relative distance of a flying body guiding apparatus according to a third embodiment of the present invention.

FIG. 15 is a diagram showing a fuzzy rule of a flying body guiding device according to a third embodiment of the present invention.

FIG. 16 is a diagram showing a configuration of a fourth embodiment of the present invention.

FIG. 17 is a diagram showing a configuration of a fifth embodiment of the present invention.

FIG. 18 is a diagram showing a configuration of a sixth embodiment of the present invention.

FIG. 19 is a diagram showing a membership function with respect to the rate of change of the line-of-sight angle of the flying vehicle guiding device according to the sixth embodiment of the present invention.

FIG. 20 is a diagram showing a fuzzy rule of a flying body guiding device according to a sixth embodiment of the present invention.

FIG. 21 is an operation explanatory view of a flying body of an active guidance system.

FIG. 22 is a diagram for explaining proportional navigation.

FIG. 23 is a diagram showing a configuration of a conventional active guidance type flying device guiding apparatus.

FIG. 24 is an operation explanatory view of a semi-active guidance type flying object.

[Fig. 25] Fig. 25 is an operation explanatory view of a passive guidance type flying object.

[Explanation of symbols]

1 antenna, 2 swing angle detection circuit, 3 antenna angular velocity detection sensor, 4 antenna space stabilization and drive circuit, 5 directional coupler, 6 radar transmitter, 7 radar receiver, 8 frequency mixer, 9 angle error detection circuit 10,
Fuzzy acceleration command calculation circuit, 11 Fuzzy processing section in fuzzy acceleration command calculation circuit, 12 Fuzzy inference execution section in fuzzy acceleration command calculation circuit, 13 Defuzzying processing section in fuzzy acceleration command calculation circuit, 14
Autopilot, 15 steering devices, 16 airframes, 1
7 Acceleration and angular velocity sensor, 18 Distance detection circuit, 1
9 infrared receiving antenna, 20 signal processor, 21 flying object, 22 target object, 23 radar transmission wave, 24
Radar received wave and line of sight, 25 reference line, 26 flight axis, 27 acceleration command calculation circuit, 28 aircraft, 29 infrared.

Claims (6)

[Claims] 1. An antenna for transmitting a radar transmission wave in the direction of a target object and receiving a reflected wave, a radar transmitter for generating high frequency power to the antenna, and a radar receiver for amplifying a reception signal from the antenna. , A frequency mixer for comparing the received signal of the radar receiver with the frequency of the high frequency power of the radar transmitter to detect the frequency difference as a Doppler frequency, and the angle error of the antenna with respect to the target received by the received signal of the radar receiver. An angle error detection circuit for detecting,
From the swing angle detection circuit that detects the angle of the antenna with respect to the airframe, the antenna angular velocity detection sensor that detects the angular velocity motion of the antenna, the output signal of the swing angle detection circuit, and the angular velocity output from the antenna angular velocity detection sensor. An antenna space stabilizing and driving circuit for spatially stabilizing the antenna and for angularly tracking the antenna in the direction of the target object by the output signal of the angular error detection circuit, an output from the angular error detection circuit and the frequency mixer Acceleration command calculation circuit that outputs a flying object acceleration command from the Doppler signal, an acceleration sensor and an angular velocity sensor that detect acceleration and angular velocity of the flying object, the above acceleration sensor and angular velocity sensor output, and the above acceleration command calculation circuit output signal An autopilot that outputs a steering angle command to the steering wing based on In a vehicle provided with a steering device that controls wings based on a rudder command, the acceleration command calculation circuit executes a predetermined fuzzy function, fuzzy inference rule, and defuzzification processing based on human experience. Guidance of a flying object characterized by having a fuzzy acceleration command calculation circuit, and calculating the acceleration command to the flying object by the fuzzy acceleration command calculation circuit based on the output from the angle error detection circuit and Doppler signal apparatus. 2. A distance detection circuit for calculating a relative distance between a flying object and a target from a time difference between a transmitted wave and a received wave,
The output from this distance detection circuit, the output signal from the angle error detection circuit, and the Doppler frequency are evaluated by a fuzzy function that incorporates human experience, fuzzy inference is performed based on those evaluation results, and the inference result is defuzzified. A fuzzy acceleration command calculation circuit for calculating an acceleration command to a flying object by processing the fuzzy acceleration command calculation circuit.
Flying object guidance device as described. 3. An antenna for transmitting a radar transmission wave in the direction of a target object and receiving a reflected wave, a radar transmitter for generating high frequency power in the antenna, and a radar receiver for amplifying a reception signal from the antenna. , A frequency mixer for comparing the received signal of the radar receiver with the frequency of the high frequency power of the radar transmitter to detect the frequency difference as a Doppler frequency, and the angle error of the antenna with respect to the target received by the received signal of the radar receiver. An angle error detection circuit for detecting,
From the swing angle detection circuit that detects the angle of the antenna with respect to the airframe, the antenna angular velocity detection sensor that detects the angular velocity motion of the antenna, the output signal of the swing angle detection circuit, and the angular velocity output from the antenna angular velocity detection sensor. An antenna space stabilizing and driving circuit that spatially stabilizes the antenna and that angle-tracks the antenna in the direction of the target object by the output signal of the angular error detection circuit; and the swinging angular velocity of the antenna from the antenna angular velocity detection sensor. The Doppler frequency from the frequency mixer is evaluated with a fuzzy function that incorporates human experience, fuzzy inference is performed based on those evaluation results, and the acceleration command to the flying object is given by defuzzifying the inference result. Fuzzy acceleration command calculation circuit to calculate and acceleration and angular velocity of the flying object An acceleration sensor and an angular velocity sensor for detecting, an autopilot that outputs a steering angle command to a steering wing based on the output of the acceleration sensor and the angular velocity sensor and the output signal of the acceleration command calculation circuit, and controls the wing based on the steering command. Flight guidance device with steering device. 4. An antenna for receiving a reflected wave of a radar transmitted wave applied to a target object from an external device of the flying object,
A radar receiver that amplifies the received signal from the antenna, a frequency mixer that compares the received signal of the radar receiver with the frequency of the high frequency power in the external device, and detects a frequency difference as a Doppler frequency, and the radar receiver. An angle error detection circuit for detecting an angle error of an antenna with respect to a target by receiving a reception signal of a machine, a swing angle detection circuit for detecting an angle of the antenna with respect to the body, and an antenna angular velocity detection sensor for detecting an angular velocity motion of the antenna. And spatially stabilizing the antenna from the output signal of the swing angle detection circuit and the angular velocity output from the antenna angular velocity detection sensor, and causing the antenna to track the angle in the direction of the target object by the output signal of the angle error detection circuit. Antenna space stabilization and drive circuit, output from the angle error detection circuit and the frequency Acceleration command calculation circuit that outputs a flying object acceleration command from the Doppler signal from the satellite, an acceleration sensor and an angular velocity sensor that detect the acceleration and angular velocity of the flying object, the above acceleration sensor and angular velocity sensor output, and the above acceleration command calculation circuit In a flying vehicle equipped with an autopilot that outputs a steering angle command to a steering wing based on an output signal and a steering device that controls the wing based on the steering command, the acceleration command calculation circuit is set in advance. It has a fuzzy function based on human experience, fuzzy inference rules, and a fuzzy acceleration command calculation circuit that performs defuzzification processing, and outputs an acceleration command to a flying object based on the output from the angle error detection circuit and the Doppler signal. A flying vehicle guide device characterized by being calculated by the above fuzzy acceleration command calculation circuit. 5. An antenna for receiving a reflected wave of a radar transmission wave applied to a target object from an external device of the flying object,
A radar receiver that amplifies the received signal from the antenna, a frequency mixer that compares the received signal of the radar receiver with the frequency of the high frequency power in the external device, and detects a frequency difference as a Doppler frequency, and the radar receiver. An angle error detection circuit for detecting an angle error of an antenna with respect to a target by receiving a reception signal of a machine, a swing angle detection circuit for detecting an angle of the antenna with respect to the body, and an antenna angular velocity detection sensor for detecting an angular velocity motion of the antenna. And spatially stabilizing the antenna from the output signal of the swing angle detection circuit and the angular velocity output from the antenna angular velocity detection sensor, and causing the antenna to track the angle in the direction of the target object by the output signal of the angle error detection circuit. Antenna space stabilization and drive circuit and antenna neck from the above antenna angular velocity detection sensor The angular velocity and the Doppler frequency from the above frequency mixer are evaluated by a fuzzy function that incorporates human experience, fuzzy inference is performed based on those evaluation results, and the inference result is defuzzified to a flying object. A fuzzy acceleration command calculation circuit that calculates an acceleration command, an acceleration sensor and an angular velocity sensor that detect acceleration and angular velocity of a flying object, a steering wing based on the acceleration sensor and angular velocity sensor outputs and the acceleration command calculation circuit output signal. A flying vehicle guidance system that includes an autopilot that outputs a steering angle command to the steering wheel and a steering device that controls the wing based on the steering command. 6. An infrared receiving antenna for receiving infrared rays emitted from a target object, a signal processor for processing a received signal from the infrared antenna, and an infrared ray for a target based on a signal from the signal processor. An angle error detection circuit for detecting an angle error of the light receiving antenna, a swing angle detection circuit for detecting an angle of the infrared light receiving antenna with respect to the body, an antenna angular velocity detection sensor for detecting an angular velocity motion of the infrared light receiving antenna, and the neck. An antenna that spatially stabilizes the infrared light receiving antenna from the output signal of the swing angle detection circuit and the angular velocity output from the antenna angular velocity detection sensor, and at the same time angle-tracks the infrared light receiving antenna in the direction of the target object by the output signal of the angle error detection circuit. Space stabilization and drive circuit, and flying object from the output from the above angle error detection circuit An acceleration command calculation circuit that outputs an acceleration command, an acceleration sensor and an angular velocity sensor that detect the acceleration and angular velocity of a flying object, and a steering wing based on the output of the acceleration sensor and angular velocity sensor and the output of the acceleration command calculation circuit. In an aircraft equipped with an autopilot that outputs a steering angle command of the above, and a steering device that controls a wing based on the steering command, the acceleration command calculation circuit has a fuzzy function and a fuzzy function based on a predetermined human experience. It has a fuzzy acceleration command calculation circuit that executes inference rules and defuzzification processing, and calculates the acceleration command to the flying object by the fuzzy acceleration command calculation circuit based on the output signal from the angle error detection circuit. Characteristic flying device guidance device.